Air-operated control system



Dec. 29, 1936. HUBBARD 2,065,702

AIR OPERATED common SYSTEM Filed Jan; 20', 1934 5' Shegfs-Sheefi 1 ma mm. ww/h Rm us Wm A, mm Wm J m a n HUM b mww Wm H u m a ma mwnw R a f ,3 m A E Y 4 B N Dec. 29, 1936.,

K. H. HUBBARD AIR OPERATED CONTROL SYSTEM 3 Shets-Sheet 2 Filed Jan. 20, 1934 INVENTOR Karl [1 Hubbard ATTORNEY Dec. 29, 1936.

K. H. HUBBARD;

AIR OPERATED CONTROL SYSTEM 3 Sheets-Shae;

Filed Jan; 20, 1934 INVENTOR Karl E. Hubbard BY A9.

ATTORNEY named Dec. 29, 1936 a UNITED STATES PATENT orrics Taylor Instrument Companies,

or to Rochester,

"N. 1., a corporation of New York 7 Application January 2., 1934, Serial No. 707,821

' 70mm. (cum-229) This invention relates to fluid-operated amplifiers and more particularly to control systems in which such amplifiers form a part.

In prior amplifiers of this type any variation ,-in fluid pressure resulted in an error in the operation of theamplifiers, and therefore in accordance with the present invention an amplifier is provided including a movable element to control the leakage from two streams of pressure fluid flowing from a pressure fluid source to two elements operated thereby which effect an amplifled response faithfully reproducing a primary response.

In prior control systems whereit has been desired to adjust a member to a position corresponding to an indicatedcondition, it has been customary to develop a weak primary response corresponding to the changing condition and then mechanically or electrically to amplify said response to such a degree that it controls sufficient force to move said member to a predetermined position indicated by said condition. In

certain installations it is desirable to employ fluid pressure amplification, since such amplification is especially quick in response and can develop large forces.

In accordance with the present invention it is also proposed to provide a system of control in which a relatively weak primary response is amplified by a pressure fluid amplifier or amplifiers into a relatively powerful response which, in turn, is employed to control the adjustment of a member to a definite position corresponding to I said primary response.

' mary amplifier, a secondary fluid-operated amplifier and an air-operated motor with certain of the parts thereof represented as being broken away; Fig. 2 is a plan view of the motor of Fig. 1; Fig. 3 is a diagrammatic showing of an automatic potentiometer network, together with a galvanometer included therein; Fig. 4 is a perspective view of the means operated from the air-motor of Figs. 1 and 2, for moving an adjustable indicator and for adjusting the potentiometer; Fig. 5 illustrates a modified form of its upper end carries a movable coil actuated an automatic pyrometer system with the .potentiometer network thereof omitted, at the right of which figure there is illustrated a plan view partially in section, of an oil motor and related mechanism; Fig. 6 is a front elevation of the oil 5 motor of Fig. 5; Fig. 7 Ba detail view of a universal coupling used in connection with the 011 motor of Fig. 5;. Figs. 8 and 9 are respectively a front elevation and a vertical section-of the resister of the potentiometer and the means for operating the same; Fig. 10 is an enlarged top view of a slide valve employed in the oil motor cf Fig. 5, while Fig. 10a is a sectional view taken on the line H of Fig. 10; and Fig. 11 is a detail view of a pair of opposed nozzles of an amplifier in which one of the nozzles is shown in longitudinal cross section.

Referring to Fig. l, 5 designates a galvanometer having an arm 6 pivoted at 6a which arm at by changes in the conditions in an electrical network (Fig. 3) to be referred to, due to temperature changes. The arm 6 has, at its lower end. a baflle plate I normally positioned midway between the rigidly supported nozzles 8 and 9 which are identical in construction. These nozzles are respectively connected through branch conduits Ill and II, to a main conduit l2 leading to a common source of pressure fluid, such as compressed air, although the system will function equally well with a compressed liquid such as oil or water. As best shown in Fig. 11, each branch conduit such-as ll, admits pressure fluid through inlet orifice Ila into its related nozzle such as 8 from which a portion ofthe fluid leaks away through nozzle orifice la. It will be noted that the diameter of nozzle orifice la. is somewhat larger than that of the inlet orifice 10a. The nozzle 8 communicates through conduit l3 and branch conduit "a with a capsular vdiaphragm l l of a primary amplifier generally designated A, while the nozzle 9 likewise communicates through conduit l5 and branch conduit supported on arms extending upwardly from'bt' with the capsular diaphragm 25.

the base I9 and which communicate through branches I2a and I2b, respectively, with the supply conduit I2.

The conduits I3 and I5 also extend to the right-hand or low-sensitivity side of a secondary amplifier generally designated A2; the conduit I3 communicating with the capsular diaphragm 24 and the conduit I5 communicating The connections between these conduits and their respective diaphragms are identical with, those shown in the sectionalized portion of the secondary amplifier A2, as indicated in the lower left-hand portion of Fig. 1. The inner or opposing faces of the capsular diaphragms 24 and 25 are mounted on posts 26 and 21 carried by the extension 28 forming a part of an upright sup.-

cross bar 32; This cross bar has a loop 34 attachedthereto, the lower portion of which may engage an adjustable stop 35 to limit'the, downward movement of the cage, while an arm-36 pivoted at 36a passes through the loop and is adjusted by means of the set screw 31 to engage the inner surface of the loop thereby limiting the upward movement of the cage.

The left-hand portion of the secondary amplifier A2 as shown in cross section, is substantially identical with that of the right-hand portion of this amplifier just described. The mentioned nozzle 23 which is connected to branch conduit I219, communicates through conduit 38 and constriction 39 with a capsular diaphragm 48 of the secondary amplifier. The conduit 38 between the constriction 39 and the diaphragm 48, communicates with an air damping chamber 4I which may be in the form of a reservoir of relatively large capacity. This reservoir in conjunction with the mentioned constriction, functions to delay the response of this diaphragm. The upper surface of the diaphragm 48 is fixedly mounted at its center to an arm 42 forming a part of an extension 43 carried by the upright 29 of the amplifier frame. The lower or free surface of the diaphragm 48 is connected at its center to across bar 44. On this cross bar there is mounteda loop 45, the lower surface of which may engage an adjustable set screw 46 mounted on the amplifier frame and which serves as a stop for the downward movement of the lefthand cage of the secondary amplifier. An arm 41 pivoted at 48, which arm passesthrough the loop 45, is adjustable upwardly and downwardly by means of the set screw 49 so that the arm 41 may engage an inner surface of the loop to limit the upward movement of the left-hand cage.

The mentioned nozzle 22 of the primary amplifier communicates through conduit 58 and constriction 5i with a capsular diaphragm 52 of the secondary amplifier. At a point between the constriction 5| and the diaphragm 52, a

damping chamber 53 of relatively large capacity communicates with the conduit 58 and func-' per or free surface of diaphragm 52 has fastened thereto'at a central point a post attached to a horizontal bar 56. The bars 44 and 56 which are held in spaced relation at their ends by rods the horizontal bar 51, there is located an adjustable set screw 62 to engage the valve stem 63 of a pilot valve. This valve controls the fiow of pressure fiuid from asource not shown, through the inlet 64 to the outlet conduit 65, which conduit communicates with the bellows 66" of an air motor.

The bellows of this motor at its lower edge is joined by an air-tight connection to a circular plate 61 secured to the rigid upright 68 mounted on the base 69. The upper edge of the bellows 66 is fastened by an air-tight joint to a rigid cup 18 which has its open end joined to an annular member H to which arms 1Ia are secured. A spiral spring 12 at its lower end engages the bottom of the cup 18 and at its upper end engages a stop 14 mounted on a rod extending into the spring. Rod 13 is adjustably mounted-on a plate 15 held in spaced relation to the plate 61 by rods 15a. The arms lla support a cage including vertical rods 16 which at their lower ends support a horizontal bar 11 in spaced relation to the mentioned arms. A flexible metal tape 18 (more clearly shown in Fig. 4) has one end connected to an intermediate point on the cross bar 11 and has its other end secured at 19 to a point on the periphery of the drum 88. This drum is mounted on a shaft 8| journaled at 82 ,and 83 (Fig. 2) in uprights on the frame 69. At a point 84 on the drum 88 there is secured at one end ametal tape 85 which has its other end connected to one end of a spiral spring 86, while the opposite end of this spring is connected by an adjustable element 81, to an upright 88 on the base so that the tension of the spiral spring may be adjusted at will. The shaft 8I also carries a drum 89 about a portion of the periphery of which a metal tape 98 passes and has one of its ends attached thereto as shown at 9|. The other end of the tape 98 is attached to drum 92 as indicated at 93, which drum is mounted on the shaft 94, in turn,suitably journaled in uprights such as 95 (Fig. 1) on the base 69. A second metal tape 96 has a portion near one end engaging part of the drum 89 to which this end of the tape is attached asshown at 91. The other end of the tape 96 engages a portion of the periphery of the drum 92 and is attached thereto, as indicated at 98.

The shaft 94 also carries an insulating disc 99 having a resistor element I88 in the form of a coiled wire mounted on its periphery. This re sistor wire terminates at contact terminals IM and I82 which are connected respectively to fiexible conductors I83 and I84. A flexible contactor its end portions divided as indicated at I891 and 2,065,708 wrapped around a portion of the drum I08 to 5 moves its arm 6 in response to an unbalanced condition of the network of Fig. 3. Let it be assumed that this arm moves to a position so that I the bafile l is much nearer to the nozzle 8 than to the nozzle 9. Therefore the fluid pressure will be increased in the conduit I3 and decreased slightly in conduit I5. The increase in pressure in conduit I3 is immediately communicated to the capsular diaphragm 2l of the secondary amplifler causing it to expand and move its cage downward with the resultantdownward movement of the right end of the horizontal bar W. The decrease in fluid pressure in the conduit I5 at the same time causes the capsular diaphragm 25 to contract, thereby permitting the mentioned downward movement of bar 51. Simultaneously with the increase in fluid pressure in conduit I3 there is a similar increase in pressure in the branched -conduit I3a so that the capsular dia hragm ll of the primary amplifier expands. Also with a decrease in pressure in conduit I5, this decrease in pressure is also communicated through the branched conduit I541 to capsular diaphragm I6, which contracts. Therefore, when the diaphragm ll expands and the diaphragm I5 contracts, the baiiie 2| is moved away from the nozzle 22 to a position nearer to the nozzle 23. This movement of the baflie results in an increase in pressure in the conduit 39 and a decrease in pressure in the conduit 50. However, con strictions 39 and SI together with the damping chambers 4| and 53 tend to delay the transmission-of this change in fluid pressure, to capsular diaphragms 40 and 52. The action of the primary amplifier A by means of its baiile 2I'and nozzles 22 and 23 greatly amplifies the response of the galvanometer 5, but this amplification of response is delayed by the constrictions and the mentioned damping chambers so that the action of the diaphragms 40 and 52 although relatively great, is delayed in becoming effective. However, in response to the increase in pressure in conduit 39, the capsular diaphragm 40 eventually expands, while in response to the decrease in fluid pressure in conduit 50, the diaphragm 52 eventually contracts. This operation of the diaphragms l and 52, through the mentioned cage ji'connected to these diaphragms, eventually causes the left end of the horizontal bar 41 to be lowered. It will thus be seen that first the right end of this bar is lowered and subsequently-:the left end of this bar is lowered, so that as-a result of the single response of the galvanometer i there are in the secondary amplifier ,A2, two responses, one of which is prompt and insensitive while the other is delayed but sensitive. The downward movement of the bar 5Iopens the pilot valve permitting pressure fluid to pass through conduit 54 to conduit 65 and thence to the bellows 66 of the air motorx This increases the pressure in the bellows causing it to expand and to force the motor cage upward against the action of the spring 12. The cage in moving upward pulls the tape I8 upward against the action of spring-35 thereby rotating drum 80 clockwise. This drum rotates the shaft 9| and the drum 99,- attached thereto. The drum 89 through the tapes 90 and 96 also rotates drum 92 and its shaft clockwisawhile this shaft likewise rotates-the resistor disc 99 and the drum I06 attached thereon in a clockwise direction.

The drum I06 through the tape portions M911 and M91) attached thereto, moves the metal tape I09 so that the indicator I01" is moved toward the right over the scale I09. As-the resistor disc 99 rotates successive portions of the coil I00 of resistor wire on its periphery, are engaged by the brush or wiper I05. This operation of the air motor continues to rotate the parts just described until the wiper I05 is so positioned on the resistor unit I00 that the network of which it is a part is again approximately balanced. In this form of the invention-the network is only approximately balanced, since a small current must normally flow through the moving coil of the ga1- vanometer in order that the movable portion of the air motor will remain in its new position of adjustment.

It will be understood that if the baiiie I moves toward nozzle 9 instead of nozzle 8, the reverse of the operation just described will be effected to re store the balance of the network.

In the modified form of the invention generally shown in Fig. 5, a galvanometer 5 of identical construction to that shown in Fig. 1, has its baflle 7 supported midway betweenthe rigidly mounted nozzles 0 and 9, for movement toward and away from the respective faces of these nozzles. A supply conduit. 205 leading to a source of pressure fluid or liquid, communicates through the branched conduits I09 and I0! with the nozzles 0 and 9, as well as with the conduits 208 and 209. These last-named conduits communicate respectively with the capsular diaphragms 2I0 and 2, the .outer surfaces of which are attached to the posts 2I2 and 2I3, mounted respectively on the uprights 2H and 2I5 of a supporting frame. The central portions of the inner or opposing faces of these diaphragms are connected to a rigid rod 2| 6 on which there is adiustably mounted the ba-flle 2 IT. This baflie extends midway between the nozzles 2I9 and 2| 9 (constructed as shown in Fig. 11) and is movable under the influence of the diaphragms H0 and 2|I.toward or away from the ends or faces of these nozzles. The supply conduit 205 also communicates through branched conduits 220 and 22I and inlet orifices (not shown) with the conduits 222 and 223, of which the conduit 222 communicates with a metal bellows 224 while the conduit 223 communicates with the metal bellows 225. The outer ends of these bellows are respectively rigidly mounted on uprights 226 and 221 supported on the base 228 of a motor unit, while, their common ends are Joined to a rigid connecting bar 229 to which there is connected a rigid frame 230. This frame communicates through a universal coupling member with a pilot" valve rod 232 forming a part of an oil motor.

The mentioned 'universal coupling includes a bearing surface or plate 233 (Fig. 7) on a rod 233a attached by member 2300 to the frame 230, and a circular plate 234 carried by pilot valve rod 232 and having ears 2340a. A ball or thrust bearing 235 engages the opposing faces of both the plates 233 and 234, since springs 236, spaced 120 apart and connected to part 230a of the frame and to ears 234a on plate 234, tend to pull the frame and valve rod together so that this valve rod can be rocked independently of the frame. Spiral springs 231, spaced 120 apart and engaging at their ends the ears on the plate 234 This pilot valve rod 232 is provided with two spaced cylindrical members 238 and 239 (Fig. and with the valve member 240 more clearly shown in Figs. 18 and a. It will be noted that the valve member 240 has two V-shaped openings 240a in its shell portion terminating at their adjacent ends in a portion 24% which is just large enough to cut off the passage of oil from the conduit 214. This arrangement of the valve member ensures that any movement slide valve rod 232 results in a corresponding change in the rate of movement of the piston 255 of the oil motor. This pilot valve moves in a chamber 24!, the inner walls of which make a close fit with cylindrical members 238, 239 and with valve member 248. This chamber is provided with ports 258 and 25I and with the ports 252 and 253 leading to the piston chamber 254 of the oil motor. A piston 255 reciprocates in this chamber while its piston rod 256, which is guided at its free end in an upright support 251, is provided with a pin 258. This pin engages a vertical slot 259 in a sector gear 268 (Figs. 6, 8 and 9) which is pivoted at 26I for rocking movement. The sector gear engages a pinion 252 mounted on the shaft 263 which carries a. disc 264 of insulating material having on its periphery a resistance unit I08 of coiled resistance wire with which a contactor I05 insulatedly supported on the base, engages. The face of this disc may be provided with graduations 261 which are carried by the disc in the path of the fixed pointer 268.

The oil motor just described requires a source of oil or other similar fluid under pressure and for this purpose an oil pump 269 is provided which pump is driven through the gears 218 and the shaft 21I of an electric motor 212. The pump serves to force the oil under pressure from the reservoir 213 through conduit 214 to the port which is controlled by the slide valve 248. It will be understood that the outlets 258 and 25l permit the oil after being used in the motor to drain back into the reservoir 213. In order to greatly reduce the friction opposing the movement of the parts carried by the valve'rod 232, this rod is arranged to be rockedthroughout the time that the system is in operation. In order to effect this rocking action, the motor shaift 2" through a worm gear connection drives the pulley 215. A belt 216 passing about this pulley drives the pulley 211 and pulley 211, through the arm 218 eccentrically driven therefrom and attached at its opposite end to sleeve 219, continuously rocks this sleeve which is so connected to the slide valve rod that the rod may move longitudinally independently of the sleeve, but partakes of the rocking movement thereof.

In the operation of this last described form of the invention let it be assumed that the normally balanced network (Fig. 3) which is connected to the galvanometer 5 becomes unbalanced, due to a change in the condition which it is desired to measure. Let it be assumed that the galvanometer 5 is so operated that the baflie 1 is moved In the direction of the nozzle 8. In response to this movement, fluid pressure increases in the conduit 288 to cause the diaphragm 2I0 to ex pand and as the baffle. moves away from the nozzle 9, fluid pressure diminishes in the conduit 289 causing the diaphragm 2 to contract. Since the diaphragm 2l8 expands and the diaphragm 2| I. contracts, the baffle 2" will be moved in the direction of the nozzle 2I8. This movement results in an increase in pressure in the conduit 222 with the consequent expansion of the bellows 224 and a reduction in the fluid pressure in the conduit 223 with the resultant contraction of the bellows 225. Since the bellows 224 expands and the bellows 225 contracts, the

frame 238 connected to the bar 229 at the common ends of these bellows, is moved toward the left. This movement of the frame is communicated through the universal coupling without lost motion to the slide valve rod 232 moving this rod and its valve 240 to the left. Oil under pressure is now supplied through the conduit 214 and the inlet port 252 of the 011 motor. This flow of oil causes the piston 255 to move toward the left forcing the piston rod 256 toward the left. The pin 258 carried by the shaft rotates the sector gear 260 counter-clockwise which drives the pinion 262 to rotate the disc 264 carrying the resistor I08 in a clockwise direction until the contactor I85 engages such a point on this resistor that the network becomes exactly balanced. It will be understood that in this modification, it is not necessary for current to flow normally through the movable coil of the galvanometer, since the movable parts of the oil motor remain in the new position of adjustment without the application of a holding force.

It will be understood that if the condition in the network is such that the baflie 1 moves toward the nozzle 9 instead of toward the nozzle 8 in the modification of Fig. 5, as in the case assumed, the reverse of the above-described operations is brought about. Y

Although the electrical network for actuating the galvanometer 5 may take various forms, it is herein illustrated (Fig. 3) as an automatic potentiometer network including a thermocouple 29I functioning in response to changes in temperature to which it is exposed, to unbalance said network, while the relation of the contactor I85 with the resistor unit I88 of the potentiometer is controlled by the motor (either the air motor of Fig. lor the oil motor of Fig. 5) to restore the balance of the network.

I claim:

1. In an arrangement of the class described, a pair of spaced nozzles, each having an opening therein in substantial alignment with an opening in the other, a source of pressure fluid, a pair of conduits each connecting said source to the output of said conduits and through a restriction to the opening in one of said nozzles, a baifle movable between said nozzles to influence continually the pressure fluid streams issuing therefrom, a substantially balanced electrical system including a galvanometer responsive to the unbalance of said system, means including said galvanometer for moving said baflle between said nozzles, and means controlled at the output of said conduits for readjusting said system to restore a su stantial balance thereof.

2. In an automatic system of the class described, a normally balanced network including means responsive to the lack of balance of said network, a pair of spaced nozzles each having an opening therein'in substantial alignment with an opening in the other, a source of pressure fluid, a pair of conduits each connecting said source through a restriction to theopening in one of said nozzles, a baffle actuated by said means and movable only to approach one nozzle and recede from the other to continually influence the pressure fluid emerging therefrom, an expansible.

diaphragm in which'each of said conduits terminates, the remote ends of said diaphragms-being rigidly mounted and the opposing ends of said diaphragms being movable as a unit, a secnd baflie actuated by movement of the opposing ends of said diaphragms, a second pair of nozzles each provided with an opening in alignment with the opening in the other, a second pair of conduits each connecting said source through a restriction to the opening in one of said second nozzles, said second bailie being movable between,

the openings of said nozzles, and means responsive to fluid in said second pair of conduits for restoring a substantial balance of said network.

3. In an automatic system of the character described, a substantially balanced network includopposing nozzles connected through constrictions ing means responsive to the lack of balance of said network, a pair of spaced nozzleseach having an opening therein in substantial alignment with an opening in the other, a source or pressure fluid, a pair of conduits each connecting said source through a restriction to the opening in with the opening in the other,'a second pair of conduits each connecting said source through a restriction to the opening in one of said second nozzles, said second baifle being movable between the openings in said second nozzles, and means including a fluid motor controlled by said secondv pair of, conduits for restoring a substantial balance of said network.

4. In a system or the class described, a pair of to a source of pressure fluid, a baflie. movable between said nozzles inaccordance with a changing condition .to vary the escape or pressure fluid irom said nozzles, pressure fluid operated means" responsive to variations in the escape'oifluid from said nomles, said means operating in accordance. with said to have a prompt insensitive response and a delayed sensitive response, and mechanism operated by said responses, jointly.

5. In a system of the class described, a pair of opposing nozzles connected through constrictions to a source of pressure fluid, a baiile movable between said nozzles to approach one nozzle and to rec'ede from the other nozzle in accordance with a changing condition to vary the escape of pressure fluid from said nozzles, pressurefluid operated means responsive to variations in the escape of fluid from said nozzles, said means operating in accordance'with said variation to have a prompt insensitive response and a'delayed sen: sitive response, and mechanism operated by said responses, jointly.

6. In a system of the class described, a pair of opposing nozzles connected through constrictions to a source of pressure fluid, a battle movable between said nozzles in accordance with a changing condition to vary the escape of pressure fluid from said nozzles, a primary pressure fluid operated amplifier actuated in response to variations in the escape oi! pressure fluid from :said

nozzles, a secondary amplifier having a relatively 25 insensitive portion actuated in response tothe escape of pressure fluid from said nozzles, and, a second sensitive sluggish portion controlled by said primary amplifier, and mechanism jointly controlled by said flrstand second portions of 30 ,said secondary amplifier.

7. In a pressure fluid operated amplifier sys tem, two expansible diaphragms mounted in alignment and having their opposing ends joined together and their remote ends immovable with respect to said opposingends, means for supplying pressure fluid to' said diaphragms in accordance with an eflect to be amplified, a' pair of nozzlesin opposing relation, a conduit having a constriction and connected to each nozzle for supplying, pressure fluid thereto, a baflle controlled by the opposing ends of said diaphragms to vary the pressure fluid streams issuing from said nozzles, a pressure responsive means connected to each conduit between said constrictionfand said T nozzle, and mechanism actuated by said presure:

responsivemeana. I

, KARL H. 

